A hierarchical formation stabilization method is proposed for vehicles having non-linear dynamics. The method makes it possible to design the high- and the low-level control algorithms independently, while the stability of the entire system is guaranteed. Through an application example it is showed that the nonlinear single-track model of road vehicles satisfies the requirements of the control method so it suits well to this control framework. It is important to keep in mind that the availability of a precise vehicle model was assumed during the controller design. For the practical applicability the presented methods, especially the low-level controller, are expected to be robust against disturbances and modeling uncertainties. However the increase of robustness of the dynamic inversion based controllers is generally a complex problem, which requires further researches.
Formation stabilization based on dynamic inversion and passivity
Auf dynamischer Inversion und Passivität basierende Formationstabilisierung
2006
12 Seiten, 4 Bilder, 10 Quellen
Conference paper
English
Springer Verlag | 2019
|DataCite | 2021
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